# Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive

> Research article (2023 IEEE International Conference on Robotics and Automation (ICRA), 2023) · cited 15× · AI/ML

**Wikidata**: [openalex:W4383097669](https://www.wikidata.org/wiki/openalex:W4383097669)  
**Source**: https://4ort.xyz/entity/puppeteer-and-marionette-learning-anticipatory-quadrupedal-locomotion-based-on-interactions-of-a-central-pattern-generat